IEEE ICRA 2020 Workshop

Workshop on Advances in Lower Limb Dynamic Prostheses for Agile and Dynamic Walking

International Conference on Robotics and Automation
Palais des Congrès de Paris - FRANCE


Sunday, May 31, 2020

8:30 -14:30, Room 242B



Activities of daily living include dynamic gait scenarios that require high agility and maneuverability. Adjustment of the impedance of the ankle joint is a fundamental neuromuscular feature that contributes to robustness and agility in human walking. Some examples of dynamic gait scenarios are turning, traversing slopes, and adapting to uneven and compliant terrain profiles. Currently available powered lower limb prostheses are designed to improve sagittal plane mobility. However, this design strategy does not fully follow ankle function during walking because even during straight-path walking the human ankle functions in both the sagittal and frontal planes. Moreover, current control methods for lower limb prostheses do not consider the time-varying impedance of the ankle, which is a neuromuscular phenomenon that contributes to agility and stability of the gait.

This workshop goal is to foster collaboration and discussion regarding current work in the field, and the major technical barriers that must be addressed to reach our goal of high agility and increased versatility in dynamic walking for lower limb prostheses. The focus will be on prostheses for the lower extremities, including discussion of biomechanics, dynamics of gait and new technologies that can be used for agile advanced prostheses such as soft robotics and soft actuators.



Panagiotis Artemiadis, University of Delaware, USA.

Rosa H. M. Chan, City University of Hong Kong, Kowloon, Hong Kong.

Helen Huang, NC State University/ UNC Chapel Hill, USA.,

Mo Rastgaar (primary contact), Polytechnic Institute, Purdue University, USA.



Human-in-the-loop control of prostheses

Novel sensors and actuators for lower limb prostheses

Soft robotics and soft actuators

Intent recognition algorithms for gait

Biomechanics of locomotion

System identification of human joint dynamics

Rehabilitation robotics

Novel designs and control architectures for prosthetic systems for the lower limb

Clinical implications and ways of assessing functional outcome for lower limb prostheses



Peter Adamczyk, Assistant Professor, University of Wisconsin-Madison

Louis Flynn, Professor, Vrije Universiteit Brussel

Deanna Gates, Associate Professor, University of Michigan

Hartmut Geyer, Associate Professor, Carnegie Mellon University

Robert Gregg, Associate Professor, University of Michigan

Levi Hargrove, Professor, Northwestern University

Kimberly Ingraham, University of Michigan

Hyunglae Lee, Assistant Professor, Arizona State University

Dirk Lefeber, Professor, Vrije Universiteit Brussel

Jennie Si, Professor, Arizona State University

Thomas Sugar, Professor, Arizona State University


Tentative Schedule:

08:30 - 09:00 Introduction by the organizers

09:00 - 10:20 4 talks

10:20 - 10:40 Coffee break (poster session)

10:40 - 12:00 4 talks

12:00 - 13:00 Lunch Break (poster session)

13:00 - 14:20 4 talks

14:20 - 14:30 Closing and take-home messages